US3338328A - Steering control system - Google Patents

Steering control system Download PDF

Info

Publication number
US3338328A
US3338328A US571084A US57108466A US3338328A US 3338328 A US3338328 A US 3338328A US 571084 A US571084 A US 571084A US 57108466 A US57108466 A US 57108466A US 3338328 A US3338328 A US 3338328A
Authority
US
United States
Prior art keywords
vehicle
yaw rate
steering
understeer
characteristic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US571084A
Inventor
Roy S Cataldo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Motors Liquidation Co
Original Assignee
Motors Liquidation Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Motors Liquidation Co filed Critical Motors Liquidation Co
Priority to US571084A priority Critical patent/US3338328A/en
Application granted granted Critical
Publication of US3338328A publication Critical patent/US3338328A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes

Definitions

  • This invention relates to vehicle steering systems and, more particularly, to a system for synthesizing an understeer characteristic which is substantially constant irrespective of vehicle speed.
  • yaw rate gain which is defined as the ratio of yaw rate to dirigible wheel angle.
  • Vehicle yaw is, of course, a turning of the vehicle about an axis which is normal to the plane of the roadway.
  • yaw rate typically varies as a function of vehicle speed.
  • the actual relationship between gain and speed may vary from oversteer, where yaw rate increases exponentially with increasing speed despite a constant wheel angle, to understeer, where yaw rate increases in somewhat less than direct proportion to vehicle speed.
  • the most desirable characteristic for some types of vehicles is understeer since the handling of a vehicle exhibiting understeer is more nearly uniform over a given speed range.
  • Understeer may be promoted in various ways including design of the suspension geometry to promote a roll tendency.
  • oversteer cannot be fully compensated through the suspension geometry.
  • vehicle handling characteristics are also dependent to a significant degree upon load distribution and tire stiffness. No single mechanical modification can be made for all conditions. Therefore, the typical dirigible vehicle inherently exhibits a varying handling characteristic for which compensation must 'be made by the operator.
  • an automotive vehicle having dirigible road wheels may be caused to exhibit a desirably uniform understeer characteristic which is substantially unaffected by normal changes in load distribution and tire stiffness. Moreover, this characteristic is promoted without the necessity of introducing a roll tendency through the suspension geometry.
  • This is accomplished by means of a steering-control system wherein ⁇ a signal representing the product of vehicle yaw rate and vehicle speed is combined with a desired wheelangle signal and employed in positioning the dirigible wheels.
  • ⁇ a signal representing the product of vehicle yaw rate and vehicle speed is combined with a desired wheelangle signal and employed in positioning the dirigible wheels.
  • the result is a synthesizedA understeer characteristic in which the vehicle maintains a constant yaw rate for a given wheel angle command, irrespective of vehicle speed over a given range.
  • FIGURE 1 is a plan view of an automotive vehicle equipped with the present invention, the details of which are illustrated in block diagram;
  • FIGURE 2 is a graphic portrayal of vehicle handling characteristics
  • FIGURE 3 illustrates the transfer function of one of the components of the system shown in FIGURE l.
  • curve A illustrates the typical oversteer characteristic.
  • yaw rate increases exponentially with increasing speed despite the maintenance of a constant dirigible wheel angle.
  • the position of the dirigible wheels is determined exclusively by the position of the steering member. Therefore, the operator must compensate for the oversteer by manipulating ICC the steering member during any speed change which tends to vary the yaw rate.
  • Curve B exhibits what is termed neutral steering which means that yaw rate increases approximately in proportion to vehicle speed, assuming constant dirigible wheel position.
  • Curve CV exhibits a highly desirable controlled understeer characteristic wherein yaw rate is constant over a substantial range of vehicle speed.
  • the controlled understeer is, therefore, the most uniform handling characteristic.
  • the system shown in FIGURE 1 tends to promote vehicle handling which is characterized by curve C by synthesizing an understeer characteristic. Accordingly, the operator of the vehicle will appreciate a response in which yaw rate remains constant for a given steering command which is introduced by way of the steering member.
  • the dirigible Wheels are controlled by means of the steering system to be repositioned in order to compensate for the inherent handling characteristic of the vehicle.
  • a vehicle 10 is equipped with dirigible road wheels 12 and 14 which are mounted forwardly on the vehicle in the conventional fashion. Wheels 12 and 14 are connected by a steering linkage which includes pitman shaft 16. Steering command signals are manually entered into the steering system by way of a conventional steering member 18 which is located in the drivers compartment. Member 18 is connected by Way of a shaft 19 to a signal generator 20 which produces a voltage which varies in magnitude and polarity according to the angle and direction of rotation of member 18. This voltage represents desired turning rate or yaw rate and is selected by the operator in accordance with his own judgment. The voltage is connected to a first input 21 of a summing amplifier 22.
  • the summing amplifier has several inputs and an output which is connected to a steering control unit 24 which is mechanically connected to the pitman shaft 16.
  • Control unit 24 which may comprise an electrohydraulic system, responds to the character of the output signal from amplifier 22 to position the dirigible wheels 12 and 14 accordingly.
  • a closed-loop electro-hydraulic steering system is provided by means of displacement signal generator 26 which is mechanically connected to pitman shaft 16 to produce an output voltage representing the actual position to the shaft 16.
  • the signal thus represents the actual angular position of wheels 12 and 14.
  • This signal is connected to input 28 of amplifier 22 for the purpose of comparing the actual position of the dirigible wheels to that initially commanded by steering member 18.
  • Non-correspondence between signals on inputs 21 and 28 produces an error signal which operates through control unit 24 to move pitman shaft 16 to reduce the deviation to zero.
  • Displacement generator 26 may, of course, include a phaseshifting device such that the voltages from generators 20 and 26 cancel whenever the deviation is zero.
  • the vehicle 10 would exhibit a handling characteristic which is determined by the weight distribution, tire stiffness, etc. as previously described.
  • the steering system further includes a rate gyro 30 which is mounted on the vehicle 10 to produce an output signal corresponding to the yaw rate of the vehicle. Suitable aircraft type gyros are commercially available.
  • tachometer generator 32 is mechanically connected to one of the rear wheels 34 so as to produce an output signal representing vehicle speed. The vehicle yaw rate and vehicle speed signals are multiplied at 36 and the product of the multiplication is applied through a leadlag filter 38 to input 40 of amplifier 22.
  • Multiplier 36 may include a potentiometer in which the voltage across the resistor element is determined by the output of generator 32 and the wiper position is determined by the output of gyro 30.
  • Filter 38 is a conventional lead-lag lter, the transfer function of which is illustrated in FIGURE 3. The gain of the filter 38 increases rapidly over a predetermined input frequency range 42 in order to increase the efrect of the yaw ratespeed signal whenever the signal Varies at or ⁇ above a predetermined rate.
  • the present invention also provides stiffer, more stable steering which tends to resist lateral accelerations and directional deviations such as those caused by Wind gusts,
  • the iilter 38 increases the speed of response of the system ⁇ and is particularly advantageous in minimizing the lag between steering command and response which may be present in front-heavy vehicles.
  • a steering control system for synthesising a desired uniform understeer characteristic comprising:
  • a manually operable steering member for producing a iirst signal representing desired yaw rate
  • vehicle response-sensing means mounted on the vehicle for producing a second signal representing the product of actual vehicle yaw rate and vehicle speed
  • said summing means being adjustable so that said output signal corresponds to a decrease in yaw rate for a vehicle having a normal steering characteristic which produces less than the desired understeer and to an increase in yaw rate for a vehicle having a normal steering characteristic which produces more than the desired understeer,
  • response-sensing means comprises a rate gyro responsive to vehicle yaw, a tachometer generator responsive to vehicle speed, and means for multiplying the respective outputs of the gyro and generator.
  • Apparatus as defined in claim 1 including feedback means for producing a third signal representing actual wheel angle, the feedback means being connected to an input of the summing means.
  • Apparatus as deiined in claim 1 including gain-changing Iilter means connected between the response-sensing means and the summing means for non-linearly increasing the effect of the second signal whenever the second signal varies above a predetermined rate.

Description

Vvig- 29, w67 R. s. CATALDO STEERING CONTROL SYSTEM Filed Aug. 8, 1966 y,United States Patent O 3,338,328 STEERING CONTROL SYSTEM Roy S. Cataldo, Birmingham, Mich., assigner to General Motors Corporation, Detroit, Mich., a corporation of Delaware Filed Aug. 8, 1966, Ser. No. 571,084 Claims. (Cl. ISU-79.1)
This invention relates to vehicle steering systems and, more particularly, to a system for synthesizing an understeer characteristic which is substantially constant irrespective of vehicle speed.
The steering or handling characteristics of automotive vehicles may be discussed in terms of yaw rate gain which is defined as the ratio of yaw rate to dirigible wheel angle. Vehicle yaw is, of course, a turning of the vehicle about an axis which is normal to the plane of the roadway. Assuming constant dirigible wheel angle, yaw rate typically varies as a function of vehicle speed. The actual relationship between gain and speed may vary from oversteer, where yaw rate increases exponentially with increasing speed despite a constant wheel angle, to understeer, where yaw rate increases in somewhat less than direct proportion to vehicle speed. The most desirable characteristic for some types of vehicles is understeer since the handling of a vehicle exhibiting understeer is more nearly uniform over a given speed range.
Understeer may be promoted in various ways including design of the suspension geometry to promote a roll tendency. However, in many vehicles, oversteer cannot be fully compensated through the suspension geometry. Further, vehicle handling characteristics are also dependent to a significant degree upon load distribution and tire stiffness. No single mechanical modification can be made for all conditions. Therefore, the typical dirigible vehicle inherently exhibits a varying handling characteristic for which compensation must 'be made by the operator.
In accordance with the present invention, an automotive vehicle having dirigible road wheels may be caused to exhibit a desirably uniform understeer characteristic which is substantially unaffected by normal changes in load distribution and tire stiffness. Moreover, this characteristic is promoted without the necessity of introducing a roll tendency through the suspension geometry. This is accomplished by means of a steering-control system wherein `a signal representing the product of vehicle yaw rate and vehicle speed is combined with a desired wheelangle signal and employed in positioning the dirigible wheels. The result is a synthesizedA understeer characteristic in which the vehicle maintains a constant yaw rate for a given wheel angle command, irrespective of vehicle speed over a given range.
The invention as well as the various advantages thereof is best described by reference to the following specification. This specification lgives a detailed description of a specific embodiment of the invention and is to be taken wtih the accompanying drawings of which:
FIGURE 1 is a plan view of an automotive vehicle equipped with the present invention, the details of which are illustrated in block diagram;
FIGURE 2 is a graphic portrayal of vehicle handling characteristics, and
FIGURE 3 illustrates the transfer function of one of the components of the system shown in FIGURE l.
Referring first to FIGURE 2, curve A illustrates the typical oversteer characteristic. In a vehicle exhibiting oversteer, yaw rate increases exponentially with increasing speed despite the maintenance of a constant dirigible wheel angle. In conventionally equipped vehicles, the position of the dirigible wheels is determined exclusively by the position of the steering member. Therefore, the operator must compensate for the oversteer by manipulating ICC the steering member during any speed change which tends to vary the yaw rate.
Curve B exhibits what is termed neutral steering which means that yaw rate increases approximately in proportion to vehicle speed, assuming constant dirigible wheel position.
Curve CV exhibits a highly desirable controlled understeer characteristic wherein yaw rate is constant over a substantial range of vehicle speed. The controlled understeer is, therefore, the most uniform handling characteristic. The system shown in FIGURE 1 tends to promote vehicle handling which is characterized by curve C by synthesizing an understeer characteristic. Accordingly, the operator of the vehicle will appreciate a response in which yaw rate remains constant for a given steering command which is introduced by way of the steering member. The dirigible Wheels, however, are controlled by means of the steering system to be repositioned in order to compensate for the inherent handling characteristic of the vehicle.
Referring to FIGURE 1, a vehicle 10 is equipped with dirigible road wheels 12 and 14 which are mounted forwardly on the vehicle in the conventional fashion. Wheels 12 and 14 are connected by a steering linkage which includes pitman shaft 16. Steering command signals are manually entered into the steering system by way of a conventional steering member 18 which is located in the drivers compartment. Member 18 is connected by Way of a shaft 19 to a signal generator 20 which produces a voltage which varies in magnitude and polarity according to the angle and direction of rotation of member 18. This voltage represents desired turning rate or yaw rate and is selected by the operator in accordance with his own judgment. The voltage is connected to a first input 21 of a summing amplifier 22. The summing amplifier has several inputs and an output which is connected to a steering control unit 24 which is mechanically connected to the pitman shaft 16. Control unit 24, which may comprise an electrohydraulic system, responds to the character of the output signal from amplifier 22 to position the dirigible wheels 12 and 14 accordingly.
A closed-loop electro-hydraulic steering system is provided by means of displacement signal generator 26 which is mechanically connected to pitman shaft 16 to produce an output voltage representing the actual position to the shaft 16. The signal thus represents the actual angular position of wheels 12 and 14. This signal is connected to input 28 of amplifier 22 for the purpose of comparing the actual position of the dirigible wheels to that initially commanded by steering member 18. Non-correspondence between signals on inputs 21 and 28 produces an error signal which operates through control unit 24 to move pitman shaft 16 to reduce the deviation to zero. Displacement generator 26 may, of course, include a phaseshifting device such that the voltages from generators 20 and 26 cancel whenever the deviation is zero.
Equipped with only the electro hydraulic steering system which has been thus far described, the vehicle 10 would exhibit a handling characteristic which is determined by the weight distribution, tire stiffness, etc. as previously described. To produce the controlled understeer characteristic illustrated by curve C in FIGURE 2, the steering system further includes a rate gyro 30 which is mounted on the vehicle 10 to produce an output signal corresponding to the yaw rate of the vehicle. Suitable aircraft type gyros are commercially available. In addition, tachometer generator 32 is mechanically connected to one of the rear wheels 34 so as to produce an output signal representing vehicle speed. The vehicle yaw rate and vehicle speed signals are multiplied at 36 and the product of the multiplication is applied through a leadlag filter 38 to input 40 of amplifier 22. Multiplier 36 may include a potentiometer in which the voltage across the resistor element is determined by the output of generator 32 and the wiper position is determined by the output of gyro 30. Other multiplier schemes will be apparent to those skilled in the art. Filter 38 is a conventional lead-lag lter, the transfer function of which is illustrated in FIGURE 3. The gain of the filter 38 increases rapidly over a predetermined input frequency range 42 in order to increase the efrect of the yaw ratespeed signal whenever the signal Varies at or `above a predetermined rate.
The yaW rate-speed signal which is applied to input 40 is thus summed with the command signal on input 21 and the feedback signal on input 28 and applied to control unit 24. The yaw rate-speed signal thus modiiies the command signal by an amount proportional to yaw rate and instantaneous vehicle speed in order to promote the controlled understeer characteristic of FIGURE 2C. The actual calibration of the system depends, of course, upon the inherent handling characteristic of the particular vehicle to which the invention is applied.
In addition to providing more uniform, predicatable, steering, the present invention also provides stiffer, more stable steering which tends to resist lateral accelerations and directional deviations such as those caused by Wind gusts, The iilter 38 increases the speed of response of the system `and is particularly advantageous in minimizing the lag between steering command and response which may be present in front-heavy vehicles.
It is to be understood that the foregoing description is illustrative in nature and is not to be construed as limiting the invention. For definition of the invention, reference should be had to the appended claims.
What is claimed is:
1. In a vehicle having dirigible wheels, a steering control system for synthesising a desired uniform understeer characteristic comprising:
a manually operable steering member for producing a iirst signal representing desired yaw rate,
vehicle response-sensing means mounted on the vehicle for producing a second signal representing the product of actual vehicle yaw rate and vehicle speed,
summing means having inputs connected to receive the rst and second signals for producing an output signal representing the sum of the signals received thereby,
said summing means being adjustable so that said output signal corresponds to a decrease in yaw rate for a vehicle having a normal steering characteristic which produces less than the desired understeer and to an increase in yaw rate for a vehicle having a normal steering characteristic which produces more than the desired understeer,
and a steering control unit operatively connected to position the Wheels according to the output signal.
2. Apparatus as dened in claim 1 wherein the response-sensing means comprises a rate gyro responsive to vehicle yaw, a tachometer generator responsive to vehicle speed, and means for multiplying the respective outputs of the gyro and generator.
3. Apparatus as defined in claim 1 including feedback means for producing a third signal representing actual wheel angle, the feedback means being connected to an input of the summing means.
4. Apparatus as deiined in claim 1 including gain-changing Iilter means connected between the response-sensing means and the summing means for non-linearly increasing the effect of the second signal whenever the second signal varies above a predetermined rate.
5. Apparatus as defined in claim 3 wherein the rst, second and third signals are electrical quantities, and the steering control unit includes electro-hydraulic actuator means responsive to electrical signal quantities to vary the position of the dirigible Wheels.
References `Cited UNITED STATES PATENTS 2/1962 Bidwell et al 18079.2 12/1962 Wohl 180-79.2

Claims (1)

1. IN A VEHICLE HAVING DIRIGIBLE WHEELS, A STEERING CONTROL SYSTEM FOR SYNTHESISING A DESIRED UNIFORM UNDERSTEER CHARACTERISTIC COMPRISING: A MANUALLY OPERABLE STEERING MEMBER FOR PRODUCING A FIRST SIGNAL REPRESENTING DESIRED YAW RATE, VEHICLE RESPONSE-SENSING MEANS MOUNTED ON THE VEHICLE FOR PRODUCING A SECOND SIGNAL REPRESENTING THE PRODUCT OF ACTUAL VEHICLE YAW RATE AND VEHICLE SPEED, SUMMING MEANS HAVING INPUTS CONNECTED TO RECEIVE THE FIRST AND SECOND SIGNALS FOR PRODUCING AN OUTPUT SIGNAL REPRESENTING THE SUM OF THE SIGNALS RECEIVED THEREBY, SAID SUMMING MEANS BEING ADJUSTABLE SO THAT SAID OUTPUT SIGNAL CORRESPONDS TO A DECREASE IN YAW RATE FOR A VEHICLE HAVING A NORMAL STEERING CHARACTERISTIC WHICH PRODUCES LESS THAN THE DESIRED UNDERSTEER AND TO AN INCREASE IN YAW RATE FOR A VEHICLE HAVING A NORMAL STEERING CHARACTERISTIC WHICH PRODUCES MORE THAN THE DESIRED UNDERSTEER AND A STEERING CONTROL UNIT OPERATIVELY CONNECTED TO POSITION THE WHEELS ACCORDING TO THE OUTPUT SIGNAL.
US571084A 1966-08-08 1966-08-08 Steering control system Expired - Lifetime US3338328A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US571084A US3338328A (en) 1966-08-08 1966-08-08 Steering control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US571084A US3338328A (en) 1966-08-08 1966-08-08 Steering control system

Publications (1)

Publication Number Publication Date
US3338328A true US3338328A (en) 1967-08-29

Family

ID=24282282

Family Applications (1)

Application Number Title Priority Date Filing Date
US571084A Expired - Lifetime US3338328A (en) 1966-08-08 1966-08-08 Steering control system

Country Status (1)

Country Link
US (1) US3338328A (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757887A (en) * 1971-07-09 1973-09-11 Versadyne Inc Vehicle guidance system
US3941200A (en) * 1973-07-27 1976-03-02 Tousuke Kawada Steering means with positive steerage for automobiles
US3983953A (en) * 1971-07-28 1976-10-05 Gemmer-France Servo mechanism
US4019603A (en) * 1975-12-24 1977-04-26 Caterpillar Tractor Co. Understeer vehicle steering system
US4109748A (en) * 1977-02-28 1978-08-29 Towmotor Corporation Steering apparatus
US5097917A (en) * 1987-12-26 1992-03-24 Honda Giken Kogyo Kabushiki Kaisha Steering system of vehicle
US5513821A (en) * 1994-03-29 1996-05-07 The Boeing Company Aircraft steering system and method for large aircraft having main landing gear steering during low taxi speed while nose gear is castored
US9400502B2 (en) 2004-09-13 2016-07-26 Deka Products Limited Partnership Control of a personal transporter based on user position
US9545963B2 (en) 2002-07-12 2017-01-17 DEKA Products Limited Partnership LLP Control of a transporter based on attitude
US10144478B2 (en) 2016-11-25 2018-12-04 Hangzhou Chic Intelligent Technology Co., Ltd. Pressure control steering
US10220843B2 (en) 2016-02-23 2019-03-05 Deka Products Limited Partnership Mobility device control system
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
US10802495B2 (en) 2016-04-14 2020-10-13 Deka Products Limited Partnership User control device for a transporter
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
USD915248S1 (en) 2017-05-20 2021-04-06 Deka Products Limited Partnership Set of toggles
US11260905B2 (en) 2015-10-10 2022-03-01 Hangzhou Chic Intelligent Technology Co., Ltd. Human-machine interaction vehicle
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
US11681293B2 (en) 2018-06-07 2023-06-20 Deka Products Limited Partnership System and method for distributed utility service execution

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3022850A (en) * 1958-04-11 1962-02-27 Gen Motors Corp Single stick member for controlling the operation of motor vehicles
US3067832A (en) * 1960-12-16 1962-12-11 Dunlap And Associates Inc Velocity modulated steering system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3022850A (en) * 1958-04-11 1962-02-27 Gen Motors Corp Single stick member for controlling the operation of motor vehicles
US3067832A (en) * 1960-12-16 1962-12-11 Dunlap And Associates Inc Velocity modulated steering system

Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757887A (en) * 1971-07-09 1973-09-11 Versadyne Inc Vehicle guidance system
US3983953A (en) * 1971-07-28 1976-10-05 Gemmer-France Servo mechanism
US3941200A (en) * 1973-07-27 1976-03-02 Tousuke Kawada Steering means with positive steerage for automobiles
US4019603A (en) * 1975-12-24 1977-04-26 Caterpillar Tractor Co. Understeer vehicle steering system
US4109748A (en) * 1977-02-28 1978-08-29 Towmotor Corporation Steering apparatus
FR2381654A1 (en) * 1977-02-28 1978-09-22 Towmotor Corp STEERING UNIT
US5097917A (en) * 1987-12-26 1992-03-24 Honda Giken Kogyo Kabushiki Kaisha Steering system of vehicle
US5513821A (en) * 1994-03-29 1996-05-07 The Boeing Company Aircraft steering system and method for large aircraft having main landing gear steering during low taxi speed while nose gear is castored
US10118661B2 (en) 1999-06-04 2018-11-06 Deka Products Limited Partnership Control of a personal transporter based on user position
US9411340B2 (en) 1999-06-04 2016-08-09 Deka Products Limited Partnership Control of a personal transporter based on user position
US9442491B2 (en) 1999-06-04 2016-09-13 Deka Products Limited Partnership Control of a personal transporter based on user position
US9411336B2 (en) 1999-06-04 2016-08-09 Deka Products Limited Partnership Control of a personal transporter based on user position
US9442492B2 (en) 1999-06-04 2016-09-13 Deka Products Limited Partnership Control of a personal transporter based on user position
US9545963B2 (en) 2002-07-12 2017-01-17 DEKA Products Limited Partnership LLP Control of a transporter based on attitude
US11648995B2 (en) 2002-07-12 2023-05-16 Deka Products Limited Partnership Control of a transporter based on attitude
US10227098B2 (en) 2002-07-12 2019-03-12 Deka Products Limited Partnership Control of a transporter based on attitude
US10370052B2 (en) 2004-09-13 2019-08-06 Deka Products Limited Partnership Control of a personal transporter based on user position
US9429955B2 (en) 2004-09-13 2016-08-30 Deka Products Limited Partnership Control of a personal transporter based on user position
US9459627B2 (en) 2004-09-13 2016-10-04 Deka Products Limited Partership Control of a personal transporter based on user position
US9529365B2 (en) 2004-09-13 2016-12-27 Deka Products Limited Partnership Control of a personal transporter based on user position
US9411339B2 (en) 2004-09-13 2016-08-09 Deka Products Limited Partnership Control of a personal transporter based on user position
US9983587B2 (en) 2004-09-13 2018-05-29 Deka Products Limited Partnership Control of a personal transporter based on user position
US9400502B2 (en) 2004-09-13 2016-07-26 Deka Products Limited Partnership Control of a personal transporter based on user position
US9442486B2 (en) 2004-09-13 2016-09-13 Deka Products Limited Partnership Control of a personal transporter based on user position
US11260905B2 (en) 2015-10-10 2022-03-01 Hangzhou Chic Intelligent Technology Co., Ltd. Human-machine interaction vehicle
US11679044B2 (en) 2016-02-23 2023-06-20 Deka Products Limited Partnership Mobility device
US11794722B2 (en) 2016-02-23 2023-10-24 Deka Products Limited Partnership Mobility device
US10752243B2 (en) 2016-02-23 2020-08-25 Deka Products Limited Partnership Mobility device control system
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
US10220843B2 (en) 2016-02-23 2019-03-05 Deka Products Limited Partnership Mobility device control system
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
US10802495B2 (en) 2016-04-14 2020-10-13 Deka Products Limited Partnership User control device for a transporter
US11720115B2 (en) 2016-04-14 2023-08-08 Deka Products Limited Partnership User control device for a transporter
US10144478B2 (en) 2016-11-25 2018-12-04 Hangzhou Chic Intelligent Technology Co., Ltd. Pressure control steering
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
USD915248S1 (en) 2017-05-20 2021-04-06 Deka Products Limited Partnership Set of toggles
USD876994S1 (en) 2017-05-20 2020-03-03 Deka Products Limited Partnership Display housing
US11681293B2 (en) 2018-06-07 2023-06-20 Deka Products Limited Partnership System and method for distributed utility service execution

Similar Documents

Publication Publication Date Title
US3338328A (en) Steering control system
US3011579A (en) Steering system
US4441572A (en) Method and a system for steering a wheeled vehicle
EP0198450B1 (en) Vehicle control system for controlling side slip angle and yaw rate gain
EP1977954B1 (en) Steering control method and apparatus, also automotive vehicle using said steering control method
US4703822A (en) Front and rear wheel steering device for a vehicle
US4527654A (en) Steering control system for automotive vehicle or the like
US3866706A (en) Vehicle steering arrangement
CA1315207C (en) Steering system for motor vehicle
US4705130A (en) Method of controlling vehicle
US4773012A (en) System for determining reference cornering behavior of wheeled vehicle
US4951207A (en) Method for controlling the front wheel steer angle
JP2641743B2 (en) Rear wheel control method for four-wheel steering vehicles
US20020095244A1 (en) Rollover stability control for an automotive vehicle using front wheel actuators
EP0474130B1 (en) Process for steering a road vehicle with front and rear wheel steering
JP2000185658A (en) Control method for transverse motion of vehicle by steering front axle
JPH04505737A (en) Vehicle steering system
US5208751A (en) Active four-wheel steering system for motor vehicles
US5515275A (en) Control system for steering a road vehicle having both front-wheel steering and rear wheel steering
JPH0825470B2 (en) Rear wheel rudder angle control method
EP0350019B1 (en) Rear wheel steering control system for vehicle
US4947326A (en) Rear wheel steer angle control system for vehicle
US2957535A (en) Vehicle steering control system with lateral acceleration computer
US4832149A (en) Device for correcting the angle of attitude of an automotive vehicle
JPH03580A (en) Wing control device